In a demanding task, three-handed manipulation is preferred to two-handed manipulation

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The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

Machine learning is often cited as a new paradigm in control theory, but is also often viewed as empirical and less intuitive for students than classical model-based methods. This is particularly the case for reinforcement learning, an approach that does n ...

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

This thesis addresses theoretical and practical aspects of identification and subsequent control of self-exciting point processes. The main contributions correspond to four separate scientific papers. In the first paper, we address the challenge of robust ...

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...

Pedestrians, like drivers, generally dislike congestion. This is true for most pedestrian environments: trains stations, airports, or shopping malls. Furthermore, pedestrian congestion also influences the attractiveness of public transportation networks. T ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

The paper presents a model-based control strategy for optimal asset management of hydroelectric units in run-of-river hydropower plants. The proposed control strategy aims to operate the unit at the best efficiency while improving water flow management and ...

Significant advances have been made in the synthesis of chemically selective environments within metal-organic frameworks, yet materials development and industrial implementation have been hindered by the inability to predictively control crystallite size ...

Dynamical systems are topologically equivalent when their orbits can be mapped onto each other via a homeomorphic change of coordinates. We will show that in general, closed-loop systems resulting from Linear Quadratic Optimal Control problems are all topo ...

Dielectric Elastomer Actuators (DEAs) require ultra high voltages in the order of several kilo volts to operate. To supply such voltages, a DC-DC flyback converter topology was selected. One of the main advantage of using such a structure is the possibilit ...

Today, it is common knowledge in the cyber-physical systems domain that the tight interaction between the cyber and physical elements provides the possibility of substantially improving the performance of these systems that is otherwise impossible. On the ...

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

This work presents force and shape control strategies for adaptive structures subjected to quasi-static loading. The adaptive structures are designed using an integrated structure-control optimization method developed in previous work, which produces minim ...

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

Performing motor tasks in virtual environments is best achieved with motion capture and animation of a 3D character that participants control in real time and perceive as being their avatar in the virtual environment. A strong Sense of Embodiment (SoE) for ...

At present, most of the magnetic bearing system adopts the classical proportional-integral-derivative (PID) control strategy. However, the external disturbances, system parameter perturbations, and many other uncertain disturbances result in PID controller ...

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

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Experimental assessment, design, and control of compliance in dexterous robotic hands

Accurate and agile flight with winged drones

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Dynamic Modeling of an Origami Prismatic Joint

Self-Exciting Point Processes: Identification and Control

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Dynamic control strategies for managing pedestrian flows

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Improving frequency containment reserve provision in run-of-river hydropower plants

Buffered Coordination Modulation as a Means of Controlling Crystal Morphology and Molecular Diffusion in an Anisotropic Metal-Organic Framework

On Topological Equivalence in Linear Quadratic Optimal Control

Control Strategy for the Discharge Phase of an Ultra-High Voltage (>7kV) Bi-Directional Flyback Converter Driving Capacitive Actuators

Security-aware Routing and Scheduling for Control Applications on Ethernet TSN Networks

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Force and Shape Control Strategies for Minimum Energy Adaptive Structures

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Reconciling Being in-Control vs. Being Helped for the Execution of Complex Movements in VR

Design of Magnetic Bearing Control System Based on Active Disturbance Rejection Theory

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit